GetSrvData
(System Variable)
[Version 1.5 or later]
Gets the internal servo data of robot joints.
<InternalServoData> = GetSrvData(<DataNumber>)
GetSrvData gets the internal servo data specified by <DataNumber> into <InternalServoData>.
<InternalServoData> is a joint type data of robot. <DataNumber> should be any of the following:
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<DataNumber>
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<InternalServoData>
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1
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Current motor speed (Actual speed) in rpm
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2
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Motor rotation angle error in pulses
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4
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Motor current absolute value in ratio (%) to the rated value
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5
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Motor torque control value (excluding torque offset) in ratio (%) to the rated value
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8
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Joint position or angle control value in mm or degrees
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17
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Tool-end speed (3 position elements only in the work coordinates) in mm/s
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18
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Tool-end positioning speed (3 position elements only in the work coordinates) in mm
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19
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Tool-end speed (3 position elements only in the tool coordinates) in mm/s
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20
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Tool-end positioning speed (3 position elements only in the tool coordinates) in mm
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-
Data numbers other than those given above are reserved. Do not use any other number other than the above, although no error will result if you specify any number up to 30.
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If you attempt to fetch the servo data when the single-joint servo data monitor is running, the fetching process may become very slow. Take care when using the single-joint servo data monitor.
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If you change <DataNumber>, the modification may take time. Do not change it so frequently.
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Execute this command in a TAKEARMed task that holds an arm semaphore. If not in a TAKEARMed task, the error "21F7: Cannot take arm semaphore" will result.
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DIM lp1 As Position
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DIM lv1 As Vector
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Lp1 = (10, 10, 5, 0, 9, 0, 1 )
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Lv1 = (50, 10, 50 )
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AREA 2, lp1, lv1, 104, 1
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'Declares I/O number 104 specified by lv1 at the
'position specified by lp1 in area number 2.
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SETAREA 2
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'Makes the area check of number 2 valid.
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RESETAREA 2
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'Initializes the area check of number 2.
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